Swimming pool cleaning robot

Abstract

The utility model provides a swimming pool cleaning robot, and relates to the field of cleaning robots, the swimming pool cleaning robot is characterized in that an inner cavity is arranged in a shell, the inner cavity is communicated with a water inlet and a water outlet, and a filter unit is arranged in the inner cavity; a power device and a snorkeling device are further arranged in the shell, the power device and the snorkeling device are both connected with the main control module, the snorkeling device comprises at least one floating bin, and an inner cavity of the floating bin is communicated with a water passing opening and an air passing opening; the water passing opening of each floating bin communicates with a water inlet and outlet power device, and the water inlet and outlet power devices are connected with the main control module. Compared with the prior art, according to the swimming pool cleaning robot, the robot floats on the water surface and sinks into water through the snorkeling device, impurities in a swimming pool are filtered through the upper filtering unit and the lower filtering unit, and the requirements of a user for water surface cleaning and underwater cleaning of the swimming pool are met; and in combination with the power device, the maneuvering functions of advancing, retreating, turning and steering can be achieved, and convenience is brought to users.

Description

Technical Field

[0001] The utility model relates to the field of cleaning robots, in particular to a pool cleaning robot. Background Art

[0002] With the improvement of people's material living standards, in order to pursue a higher quality of life, swimming pools have become a common place for people's leisure and entertainment. Whether it is a private swimming pool or a public swimming pool, the cleanliness of the pool water is the primary concern of people. Usually, to maintain cleanliness, the swimming pool water needs to be replaced regularly, and the swimming pool also needs to be cleaned regularly. The traditional cleaning method is generally manual cleaning, which is not only time-consuming and laborious but also causes waste of water resources.

[0003] In recent years, in order to save water resources and reduce manual labor, automatic pool cleaners have been introduced to automatically clean the swimming pool without draining water.

[0004] Currently, the mainstream pool cleaning robots are divided into surface cleaning robots and bottom cleaning robots. Surface robots can only clean floating objects on the water surface, and bottom cleaning robots can only clean the bottom and side walls of the pool. When users have both surface cleaning and underwater cleaning needs for the pool, usually two types of robots are required to meet different usage scenarios, which greatly occupies space and brings inconvenience to users. Summary of the Utility Model

[0005] In view of the above problems, the utility model provides a pool cleaning robot that can float on the water surface and sink underwater, which can meet the needs of users for surface cleaning and underwater cleaning of the pool and bring convenience to users.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A pool cleaning robot includes a housing. An inner cavity is provided inside the housing, and the inner cavity is communicated with a water inlet and a water outlet. A filtering unit is arranged inside the inner cavity. A power device for realizing movement on the water surface or underwater and a floating and diving device for controlling floating and diving to realize surface cleaning and underwater cleaning are also arranged inside the housing. The power device and the floating and diving device are both connected to the main control module. The floating and diving device includes at least one floating chamber for realizing floating or diving of the robot by adjusting the proportion of water and air in the inner cavity. The inner cavity of the floating chamber is communicated with a water passing port for water inlet and outlet and a ventilation port for communicating with the air above the water surface. The opening of the ventilation pipeline communicated with the ventilation port is above the water surface, and the water passing port is below the water surface when the pool robot floats or dives. The water passing port of each floating chamber is communicated with a water inlet and outlet power device for controlling the on-off of the water path, and the water inlet and outlet power device is connected to the main control module.

[0008] Preferably, the vent openings of each floating bin are connected as a whole through a ventilation pipe. The ventilation pipe is connected to a float floating on the water surface. The float is provided with air holes communicating with the ventilation pipe. A hollow connecting pipe is arranged below the float, and the hollow connecting pipe communicates the air holes with the vent openings of the floating bin.

[0009] Preferably, the water inlet openings of each floating bin are connected as a whole through a water pipe. The water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling the on-off of the water inlet waterway and a drainage power driver for controlling the on-off of the water outlet waterway. The water inlet pipe in the water pipe is connected to the water inlet power driver, and the drainage pipe in the water pipe is connected to the drainage power driver.

[0010] Preferably, the water inlet openings of each floating bin are connected as a whole through a water pipe. The water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling water inlet and a drainage power driver for controlling water outlet. The water pipe is connected in series with the water inlet power driver and the drainage power driver as a whole.

[0011] Preferably, the water inlet and outlet power device is placed in a sealed bin, and a battery is also arranged in the sealed bin; a photovoltaic panel connected to the main control module is arranged on the top of the housing; the water inlet includes an upper water inlet and a lower water inlet communicating with the inner cavity. The lower water inlet is arranged at the bottom of the housing, and a check valve cover plate is fitted to the lower water inlet. The upper water inlet is arranged on one side of the housing, and a front door cover plate is fitted to the upper water inlet; the water outlet is below the upper water inlet, and the water outlet includes a front water outlet and a rear water outlet oppositely arranged on both sides of the housing.

[0012] More preferably, the filtering unit is a filter frame. A check valve cover plate for covering the lower water inlet is installed at the bottom of the filter frame; the upper water inlet is connected to a water inlet channel, and a front door cover plate is installed at the channel opening position of the water inlet channel. The front door cover plate is connected to the floating bin through a connecting rod; a rolling brush corresponding to the water inlet channel of the upper water inlet is also installed in the filter frame. The rolling brush is connected to a driver, and the driver is connected to the main control module.

[0013] Preferably, one or more power devices for generating power to discharge the water flow entering the inner cavity from the water outlet are arranged in the inner cavity. The power device includes a driving motor connected to the main control module. Synchronously rotating main driving shafts extend from the front end and the rear end of the driving motor. Each main driving shaft indirectly drives a driven shaft. A clutch device for driving the driven shaft to rotate in the same direction as the main driving shaft according to the rotation direction of the main driving shaft is arranged between the main driving shaft and the driven shaft. A rotary propeller for pushing water is installed on the driven shaft; the rotary propeller at the front end is located in the corresponding front water outlet, and the rotary propeller at the rear end is located in the corresponding rear water outlet.

[0014] More preferably, the clutch device includes a first sleeve and a second sleeve that cooperate with each other. The first sleeve is provided with a first transmission tooth, and the second sleeve is provided with a second transmission tooth that cooperates with the first transmission tooth. The first sleeve rotates synchronously with the main drive shaft through an inner cylinder, and the second sleeve rotates synchronously with the driven shaft; the direction of the second transmission tooth in the second sleeve on the front end driven shaft is opposite to the direction of the second transmission tooth in the second sleeve on the rear end driven shaft; the end of the main drive shaft is disposed opposite to the end of the driven shaft; the inner cylinder rotates synchronously with the main drive shaft, the first sleeve is sleeved on the inner cylinder, the inner cylinder is provided with at least one outer protrusion for driving the first sleeve to rotate, the outer protrusion is provided with a push block for driving the outer cylinder to move linearly, the inner wall of the first sleeve is provided with an inner protrusion that cooperates with the outer protrusion and an installation groove for inserting the push block, the installation groove is fitted with an insert block, and the bottom convex block of the insert block and the bottom of the installation groove form a spiral limit groove that cooperates with the push block.

[0015] More preferably, a water outlet chamber is provided in both the front water outlet and the rear water outlet. A water outlet channel corresponding to the rotary propeller is formed in the water outlet chamber. The water outlet channel surrounds the outer edge of the rotary propeller. The driving shaft or the driven shaft in the power device passes through the water outlet chamber. The water inlet end of the water outlet channel is communicated with the inner cavity through a communication port, and a one-way valve is further provided in the water outlet chamber.

[0016] More preferably, the driving motor is placed in a protection chamber, and the protection chamber is provided with a through hole for the main drive shaft or the driven shaft to pass through.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model provides a pool cleaning robot. The robot is floated on the water surface and sunk underwater by a snorkeling device, and an upper filtering unit and a lower filtering unit are used to filter impurities in the pool, meeting the needs of users for cleaning the pool water surface and underwater; combined with the power device, it can realize the maneuvering functions of moving forward, backward, turning, and steering, bringing convenience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a pool cleaning robot provided by the present utility model Figure 1 。

[0019] Figure 2 Schematic diagram of a pool cleaning robot provided by the present utility model Figure 2 。

[0020] Figure 3 Exploded view of a pool cleaning robot provided by the present utility model.

[0021] Figure 4 Internal schematic diagram of a pool cleaning robot provided by the present utility model Figure 1 。

[0022] Figure 5 Internal schematic diagram of a pool cleaning robot provided by the present utility model Figure 2 .

[0023] Figure 6 Internal schematic diagram of a pool cleaning robot provided by the present utility model Figure 3 .

[0024] Figure 7 Schematic diagram of the first embodiment of the snorkeling device in a pool cleaning robot provided by the present utility model.

[0025] Figure 8 Schematic diagram of the second embodiment of the snorkeling device in a pool cleaning robot provided by the present utility model Figure 1 .

[0026] Figure 9 Schematic diagram of the second embodiment of the snorkeling device in a pool cleaning robot provided by the present utility model Figure 2 .

[0027] Figure 10 Third embodiment of the snorkeling device in a pool cleaning robot provided by the present utility model.

[0028] Figure 11 Schematic diagram of the power device in a pool cleaning robot provided by the present utility model.

[0029] Figure 12 Exploded view of the power device in a pool cleaning robot provided by the present utility model.

[0030] Figure 13 Cross-sectional view of the power device in a pool cleaning robot provided by the present utility model.

[0031] Figure 14 Schematic diagram of the first sleeve and the inner cylinder in the power device of a pool cleaning robot provided by the present utility model.

[0032] Figure 15 Cross-sectional view of the power device of a pool cleaning robot provided by the present utility model installed in the water outlet chamber and the protection chamber.

[0033] Figure 16 Block schematic diagram of a pool cleaning robot provided by the present utility model. Detailed implementation mode

[0034] Specifically describe the preferred implementation mode provided by the present utility model according to the attached drawings.

[0035] Figures 1 to 16 , Preferred implementation mode of a pool cleaning robot provided by the present utility model. AsFigures 1 to 16 As shown in the figure, the pool cleaning robot includes a housing 10 with an inner cavity 11 inside. The inner cavity 11 is connected to a water inlet 12 and a water outlet 13, and a filtering unit 14 is arranged in the inner cavity 11. A power device 20 for realizing movement on the water surface or underwater and a snorkeling device 30 for controlling snorkeling to realize water surface cleaning and underwater cleaning are also arranged in the housing 10. The power device 20 and the snorkeling device 30 are both connected to the main control module 40. The snorkeling device 30 includes at least one floating chamber 31 for realizing the floating or diving of the robot by adjusting the proportion of water and air in the inner cavity. The inner cavity of the floating chamber 31 is connected to a water passing port 311 for water inlet and outlet and a ventilation port 312 for communicating with the air above the water surface. The opening of the ventilation pipeline connected to the ventilation port 312 is above the water surface, and the water passing port 311 is below the water surface when the robot floats or dives. The water passing port 311 of each floating chamber 31 is connected to a water inlet and outlet power device 32 for controlling the on-off of the water path. The water inlet and outlet power device 32 is connected to the main control module 40. In this way, the power device 20 provides power for the movement of the whole robot, and the draft depth of the whole robot is controlled by controlling the water inlet and outlet of the floating chamber 31 in the snorkeling device 30. The filtering unit 14 in the inner cavity 11 can filter the liquid entering from the water inlet 12 when floating on the water surface or sinking underwater, and the filtered liquid is discharged from the water outlet 13, meeting the needs of the user for pool water surface cleaning and underwater cleaning.

[0036] According to the buoyancy formula, F_buoyancy = ρ_fluid g V_displaced, where ρ_fluid represents the density of the liquid, with the unit of kg / m³; g represents a constant, g = 9.8 N / kg; V_displaced represents the volume of the displaced liquid, with the unit of m³. The water inlet and outlet power device 32 controls the water inlet and outlet in the floating chamber 31. When F_buoyancy is greater than the gravity, the floating chamber 10 floats on the water surface. When F_buoyancy is less than the gravity, the floating chamber 31 sinks in the water. When the snorkeling device is initially placed in the water, since the generated buoyancy is greater than the overall gravity of the snorkeling device in the initial state, the floating chamber 10 floats on the water surface. When the snorkeling device is placed in the robot, due to the gravity of the robot, when the whole robot floats in the water, a preset draft position will be formed on the housing of the robot and the floating chamber, that is, a draft line in the floating state is formed in the floating chamber, and a draft line 1001 is correspondingly provided on the housing.

[0037] To ensure that the floating chamber 31 remains in communication with the air above the water surface when diving into the water or floating on the water surface, the ventilation port 312 on the floating chamber 31 is connected to a ventilation pipeline, and the opening of the ventilation pipeline is kept above the water surface. The ventilation pipelines connected to the ventilation ports 312 of each floating chamber 31 can be independent of each other, and the openings of each ventilation pipeline are above the water surface. The ventilation ports 312 of each floating chamber 31 can also be connected into one body through a ventilation pipeline to save space, and the opening of the ventilation pipeline is above the water surface.

[0038] Such as Figure 1 and Figure 2As shown in the figure, the vent openings of each floating bin 31 are connected as a whole through a ventilation pipeline. The ventilation pipeline is connected to a float 50 floating on the water surface. The float 50 is provided with a vent hole 501 communicating with the ventilation pipeline. A hollow connecting pipe 51 is arranged below the float 50, and the hollow connecting pipe 51 communicates the vent hole 501 and the vent opening 312 of the floating bin 31. The float 50 is composed of a sealed housing and has a specific gravity less than that of water, so it can always float on the water surface.

[0039] To facilitate the injection of water into the floating bin 31 at any time when it is in the floating state, the water inlet 311 of the floating bin 31 is always below the water surface, that is, the water inlet 311 of the floating bin 31 is below the waterline in the floating state of the floating bin. Generally, the water inlet 311 of the floating bin 31 is arranged at the bottom of the floating bin; and for the convenience of connection, the water inlet 311 of the floating bin is connected to a water pipeline.

[0040] When the entire floating and diving device 30 is placed into the robot, to ensure the normal operation of the water inlet and outlet power device 32, the water inlet and outlet power device 32 is generally placed in the sealed bin 70. The water pipeline communicating with the water inlet and outlet power device 32 passes through the sealed bin 70, and the opening of the water pipeline is below the water surface to ensure that water can be injected into the floating bin 31 through the water inlet and outlet power device 32. A battery 71 for supplying power to the water inlet and outlet power device 32 is also arranged in the sealed bin 70. A photovoltaic panel 18 is arranged on the top of the housing 10, and the photovoltaic panel 18 can charge the battery 71 in the machine, which can relieve the trouble of frequent charging for users.

[0041] As Figure 8 shown, as the first preferred embodiment of the floating and diving device, in this embodiment, the water inlets 311 of each floating bin 31 are connected as a whole through a water pipeline. The water pipeline is connected to a water inlet and outlet power device 32, and the water inlet and outlet power device 32 is used to control the water inlet and outlet of each floating bin 31. The water inlet and outlet power device 20 can be a peristaltic pump or other pump bodies that can realize water inlet and outlet control.

[0042] Taking the peristaltic pump of the water inlet and outlet power device 32 as an example, the peristaltic pump is located inside the sealed chamber 70. The opening of the water pipe connected to the peristaltic pump passes through the sealed chamber 70 and is below the floating draft line of the floating chamber 31. The peristaltic pump rotates counterclockwise to inject water into the floating chamber 31 and rotates clockwise to drain the water in the floating chamber 31. When the robot needs to work underwater, the peristaltic pump rotates counterclockwise, and the water in the pool is pressed into the floating chamber 31 by the work of the peristaltic pump. The air in the floating chamber 31 is discharged from the ventilation port 312 through the air holes 501 on the float 50 due to the filling of water. When the floating chamber 31 is filled with water, the robot will sink to the bottom due to the change in specific gravity. When the robot needs to float to the water surface, the peristaltic pump rotates clockwise to drain the water in the floating chamber 31, and air is supplemented into the floating chamber 31 through the air holes 501 on the float and the ventilation port 312. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water will lift the robot to the water surface and keep it at the preset draft position.

[0043] As Figure 8 and Figure 9 shown, as the second preferred embodiment of the snorkeling device, in this embodiment, the difference between the second preferred embodiment and the first preferred embodiment is that the water inlet and outlet power device 32 includes an inlet power driver 321 for controlling water inlet and a drainage power driver 322 for controlling water outlet. The inlet pipeline in the water pipe is connected to the inlet power driver 321, and the outlet pipeline in the water pipe is connected to the drainage power driver 322. The pipe openings connected to the inlet power driver 321 and the pipe openings connected to the drainage power driver 322 are both outside the sealed chamber 70. The water inlet into the floating chamber 31 is controlled by the inlet power driver 321, and the water outlet from the floating chamber 31 is controlled by the drainage power driver 322. When the robot needs to work underwater, the inlet power driver 321 is activated, and the water in the pool is pressed into the floating chamber 31 by the inlet power driver 31. The air in the floating chamber 31 is discharged from the ventilation port 312 through the air holes 501 on the float 50. When the floating chamber 31 is filled with water, the robot will sink to the bottom due to the change in specific gravity. When the robot needs to float to the water surface, the drainage power driver 322 is activated to drain the water in the floating chamber 31, and air is supplemented into the floating chamber 31 through the air holes 501 on the float and the ventilation port 312. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water will lift the robot to the water surface and keep it at the preset draft position.

[0044] The water inlets 311 of the floating chambers 31 are connected as a whole through water pipes. The water pipe is connected to a tee. One end of the tee forms an inlet pipeline, and the inlet pipeline is connected to the inlet power driver 321. The other end of the tee forms an outlet pipeline, and the outlet pipeline is connected to the drainage power driver 322. As Figure 8As shown, in the first embodiment, the water inlet power driver 321 can be a solenoid valve, and the water drainage power driver 322 is a water pump with a check valve function and capable of draining water, such as a diaphragm pump; as Figure 9 shown, in the second embodiment, both the water inlet power driver 321 and the water drainage power driver 322 can be water pumps with a check valve function, such as diaphragm pumps.

[0045] As Figure 10 shown, in the third preferred embodiment of the snorkeling device, the difference between the third preferred embodiment and the second preferred embodiment is that the water passing ports 311 of the respective floating chambers 31 are connected into one body through a water passing pipeline, and the water passing pipeline is connected in series with the water inlet power driver 321 and the water drainage power driver 322, and the pipeline opening connected to the water drainage power driver 322 is outside the sealed chamber 70; the water inlet power driver 321 is a solenoid valve, and the water drainage power driver 322 is a water pump, a centrifugal pump, an axial flow pump or other water pumps. When the water drainage power driver 322 is not working, water flow is allowed to pass through.

[0046] For example, the water inlet power driver 321 is a solenoid valve, and the water drainage power driver 322 is a water pump; when the robot needs to work underwater, the main control module 40 in the robot controls the solenoid valve to open. Under the action of atmospheric pressure, water flow in the swimming pool enters from the water outlet of the water pump, passes through the water pump and the solenoid valve, and enters the floating chamber 31. The air in the floating chamber 31 is discharged from the air vent 312 through the air holes 501 on the float 50. After the floating chamber 31 is filled with water, the robot will sink to the bottom due to the change in specific gravity; when the robot needs to float to the water surface, the main control module 40 in the robot controls the solenoid valve to open and simultaneously turns on the water pump for drainage. At this time, the water in the floating chamber 31 will be discharged from the water outlet of the water pump under the action of the water pump's work; when the water pump is draining water, a negative pressure is formed in the inner cavity of the floating chamber 31, and air is supplemented into the floating chamber 31 through the air holes 501 on the float and the air vent 312. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water will lift the robot to the water surface and keep it at the preset draft position; when the water in the floating chamber 31 is drained completely, the overall specific gravity of the machine returns to the floating state. At this time, the solenoid valve is closed, and then the water pump is closed, and the machine enters the water surface working state.

[0047] The housing 10 is provided with an upper water level sensor 15 and a lower water level sensor 16. The upper water level sensor 15 is above the water line 1001 on the housing, and the lower water level sensor 16 is below the water line 1001 on the housing. Both the upper water level sensor 15 and the lower water level sensor 16 are connected to the main control module 40. When the water level sensor comes into contact with water, there will be an induction signal, and the main control module 40 will judge the submerged and floating states of the machine according to this induction signal. The lower water level sensor 16 is below the water line 1001 and is used to detect whether the machine enters the water. The upper water level sensor 15 is arranged at the top of the housing. The upper water level sensor 15 is above the water line 1001 on the housing and is used to detect the submerged and floating states of the machine. When both the upper water level sensor 15 and the lower water level sensor 16 detect water, it means the machine is submerged at the bottom of the water. When only the lower water level sensor 16 below the water line detects water, it means the machine is floating on the water surface. When neither the upper water level sensor 15 nor the lower water level sensor 16 detects water, it means the machine has not entered the water.

[0048] The water inlet 12 includes an upper water inlet 121 and a lower water inlet 122 that communicate with the inner cavity. The lower water inlet is arranged at the bottom of the housing. The lower water inlet 122 is equipped with a check valve cover plate 1221. The upper water inlet 121 is arranged on one side of the housing 10. The upper water inlet 121 is equipped with a front door cover plate 1211. In this way, when the whole robot sinks underwater under the action of the snorkeling device 30, the power device 20 drives the whole robot to move. The check valve cover plate 1221 is opened under the action of water, and water enters from the lower water inlet 122 into the inner cavity 11. The filtered impurities remain in the filter unit 14, and the filtered liquid can be discharged from the water outlet 13 to generate power to push the robot to move. When the whole robot floats on the water surface under the action of the snorkeling device 30, the power device 20 drives the whole robot to move. The front door cover plate 1211 is opened under the action of water, and the impurities and liquid on the water surface enter from the upper water inlet 121. The filtered impurities remain in the filter unit 14, and the filtered liquid can be discharged from the water outlet 13, so as to achieve the purpose of cleaning the water surface.

[0049] The water outlet 13 is below the upper water inlet 121. The water outlet 13 includes a front water outlet 131 and a rear water outlet 132 that are oppositely arranged on both sides of the housing. Four walking wheels 60 are installed on the housing 10, on both sides of the bottom of the machine housing 10, supporting the housing 10. The housing 10 has a certain ground clearance to ensure that water can enter from the lower water inlet 122 into the inner cavity 11.

[0050] The filtering unit 14 is a filtering box. A check valve cover plate 1221 for covering the lower water inlet 122 is installed at the bottom of the filtering box. A rolling brush 141 corresponding to the upper water inlet 121 is also installed in the filtering box. The rolling brush 141 is connected to a driver 142, and the driver is connected to the main control module 40. The rolling brush 141 can push the impurities on the water surface into the inner cavity, so as to clean the water surface. The upper water inlet 121 is communicated with a water inlet channel, and a front door cover plate 1211 is installed at the position of the channel opening of the water inlet channel. The front door cover plate 1211 is connected to the floating bin 19 through a connecting rod 12111. As Figure 5 shown, when the whole robot sinks underwater under the action of the snorkeling device 30, the power device 20 does work to suck the water and sundries at the bottom of the pool. At this time, the bottom check valve cover plate 1221 is pushed open by the water. Since the front door cover plate 1211 is connected to the floating bin 19, the floating bin 19 raises and closes the front door cover plate 1211 through the buoyancy of the water, so as to close the upper water inlet 121. In this way, in the snorkeling state, the check valve cover plate 1221 is opened and the front door cover plate 1211 is closed; as Figure 6 shown, when the whole robot floats on the water surface under the action of the snorkeling device 30, the draft depth is adjusted by counterweight, and the water line 1001 is just about 1 cm below the center of the rolling brush 141. At this time, the floating bin 19 connected to the front door cover plate 1211 is located above the water line. Therefore, the front door cover plate 1211 is in an open state under the action of gravity; when the power device 20 is started, the water is discharged from the rear water outlet 132, pushing the robot to move forward on the water surface. The water enters from the front upper water inlet 121, and the rolling brush 141 always sweeps towards the inner cavity 11, so as to realize the cleaning of the water surface. Since the workload on the water surface is small, the power device 20 only needs to be turned on with a very small power, resulting in no large negative pressure in the inner cavity 11. The two ends of the check valve cover plate 1221 have counterweights. The water pressure in the inner cavity 11 combined with the counterweights on the check valve cover plate 1211 presses the check valve cover plate 1211 on the lower water inlet 122, preventing or reducing the water from entering from the lower water inlet 122 at the bottom, and maximizing the realization that when working on the water surface, the water only enters the inner cavity for filtering from the upper water inlet 121 on the water surface.

[0051] A cover shell 101 is installed at the top of the housing 10 through a pivot. The photovoltaic panel 18 can be arranged on the outer surface of the cover shell 101, which also facilitates the removal of the filtering unit 14 for cleaning.

[0052] One or more power devices 20 for generating power by discharging the water flow entering the inner cavity from the water outlet 13 are arranged in the inner cavity 11. As Figures 11 to 15As shown in the figure, the power device 20 includes a drive motor 21 connected to the main control module 40. The front end and the rear end of the drive motor 21 both extend with a main drive shaft 22 that rotates synchronously. Each main drive shaft 22 indirectly drives a driven shaft 23. A clutch device 26 is provided between the main drive shaft 22 and the driven shaft 23 for driving the driven shaft to rotate with the main drive shaft according to the rotation direction of the main drive shaft. A rotary propeller 24 for pushing water is installed on the driven shaft 23. The rotary propeller 24 at the front end is located in the corresponding front water outlet 131, and the rotary propeller 24 at the rear end is located in the corresponding rear water outlet 132. In this way, when the drive motor 21 rotates, the clutch device 26 drives the driven shaft 23 at the front end or the driven shaft 23 at the rear end to rotate according to the rotation direction of the main drive shaft 22, so as to determine whether the rotary propeller 24 at the front end rotates to do work or the rotary propeller 24 at the rear end rotates, and the drainage generates a reaction force to obtain the power for forward or backward movement. As an implementation manner, the drive motor 21 can be a brushed motor or a brushless motor; the rotary propeller 24 is a propeller.

[0053] When the drive motor 21 drives the main drive shaft 22 to rotate clockwise, the clutch device 26 on the front-end main drive shaft 22 drives the driven shaft 23 to be integrated with the front-end main drive shaft 22, and the driven shaft 23 rotates synchronously with the front-end main drive shaft 22. The rotary propeller 24 on the driven shaft 23 does work, while the clutch device 26 on the rear-end main drive shaft 22 drives the driven shaft 23 to be separated from the rear-end main drive shaft 22, and the driven shaft 23 does not rotate synchronously with the rear-end main drive shaft 22, and the rotary propeller 24 on the driven shaft 23 does not do work. When the drive motor 21 drives the main drive shaft 22 to rotate counterclockwise, the clutch device 26 on the front-end main drive shaft 22 drives the driven shaft 23 to be separated from the front-end main drive shaft 22, and the driven shaft 23 does not rotate synchronously with the front-end main drive shaft 22, and the rotary propeller 24 on the driven shaft 13 does not do work. While the clutch device 26 on the rear-end main drive shaft 22 drives the driven shaft 23 to be integrated with the rear-end main drive shaft 22, and the driven shaft 23 rotates synchronously with the rear-end main drive shaft 22, and the rotary propeller 24 on the driven shaft 23 does work.

[0054] As Figures 11 to 14, the clutch device 26 includes a first sleeve 261 and a second sleeve 262 that cooperate with each other. The first sleeve 261 is provided with a first transmission tooth 2611, and the second sleeve 262 is provided with a second transmission tooth 2621 that mates with the first transmission tooth. The first sleeve 261 rotates synchronously with the main drive shaft 22 through an inner cylinder 263, and the second sleeve 262 rotates synchronously with the driven shaft 23. The direction of the second transmission tooth 2621 in the second sleeve 262 on the front-end driven shaft 23 is opposite to the direction of the second transmission tooth 2621 in the second sleeve 262 on the rear-end driven shaft 23. In this way, when the drive motor 21 drives the front-end main drive shaft 22 and the rear-end main drive shaft 22 to rotate clockwise or counterclockwise, the cooperation or separation of the first transmission tooth 2611 on the first sleeve 261 and the second transmission tooth 2621 on the corresponding second sleeve 262 is achieved through the inner cylinder 263. And after disengagement, the first transmission tooth 2611 has no contact with the second transmission tooth 2621 on the second sleeve 262, which can achieve the purpose of noise reduction and energy consumption reduction.

[0055] The end of the main drive shaft 22 is disposed opposite to the end of the driven shaft 23. The inner cylinder 263 rotates synchronously with the main drive shaft 22. The first sleeve 261 is sleeved on the inner cylinder 263. The inner cylinder 263 is provided with at least one outer protrusion 2631 for driving the first sleeve 261 to rotate and a push block 2632 for driving the first sleeve 261 to move linearly. The inner wall of the first sleeve 261 is provided with an inner protrusion 2612 that mates with the outer protrusion 2631 and a placement groove 2614 for the push block to insert. A insert block 264 is fitted in the placement groove 2614. The bottom protrusion of the insert block 264 and the bottom of the placement groove 2614 form a spiral limit groove 2613 that mates with the push block 2632. During installation, the push block 2632 on the inner cylinder 263 is inserted into the first sleeve 261 through the placement groove 2614, and then the insert block 264 is placed into the placement groove 2614 to prevent the inner cylinder 263 from falling off from the first sleeve 261. The bottom protrusion of the insert block 264 and the bottom of the placement groove 2614 form a spiral limit groove 2613 for the push block 2632 to rotate and slide. The side wall of the placement groove 2614 is provided with an inclined side 26141. The side of the insert block 264 fits with the inclined side of the placement groove 2614, which can prevent the placement groove 2614 from falling off. At the same time, since the insert block 264 is fan-shaped and the outer arc length is greater than the inner arc length, the radial movement of the insert block 264 is prevented, thereby positioning the insert block 264.

[0056] During use, when the drive motor 21 drives the main drive shaft 22 to rotate clockwise, the inner cylinder 263 rotates synchronously with the front-end main drive shaft 22. The push block 2632 on the inner cylinder 263 cooperates with the spiral limiting groove 2613 to push the first sleeve 261 to move towards the second sleeve 262. The first transmission tooth 2611 cooperates with the second transmission tooth 2621. During the rotation of the inner cylinder 263, the outer protrusion 2631 on the inner cylinder 263 cooperates with the inner protrusion 2612 of the first sleeve 261. As the inner cylinder 263 continues to rotate, it drives the first sleeve 261 to rotate synchronously. The first transmission tooth 2611 on the first sleeve 261 fits with the second transmission tooth 2621 on the second sleeve 262, thereby driving the second sleeve 262 and the driven shaft 23 to rotate synchronously, and the rotary propeller 24 on the driven shaft 23 rotates synchronously to do work. At the same time, the inner cylinder 263 on the rear-end main drive shaft 22 rotates. The push block 2632 on the inner cylinder 263 cooperates with the spiral limiting groove 2613 to drive the first sleeve 261 to move away from the second sleeve 262. The first transmission tooth 2611 is separated from the second transmission tooth 2621. When the outer protrusion 2631 on the inner cylinder 263 cooperates with the inner protrusion 2612 of the first sleeve 261 and the inner cylinder 263 drives the first sleeve 261 to rotate synchronously, since the first transmission tooth 2611 is separated from the second transmission tooth 2621, the second sleeve 262 and the driven shaft 23 at the rear end do not rotate synchronously with the rear-end main drive shaft 22, and the rotary propeller 24 on the driven shaft 23 does not do work. Similarly, when the drive motor 21 drives the main drive shaft 22 to rotate counterclockwise, under the cooperation of the push block 2632 on the inner cylinder 263 and the spiral limiting groove 2613, the first sleeve 261 on the front-end main drive shaft 22 moves away from the second sleeve 262. When the inner cylinder 263 drives the first sleeve 261 to rotate synchronously, the second sleeve 262 and the driven shaft 23 at the front end do not rotate synchronously with the front-end main drive shaft 22, and the rotary propeller 24 on the driven shaft 23 does not do work. For the first sleeve 261 on the rear-end main drive shaft 22, under the cooperation of the push block 2632 on the inner cylinder 263 and the spiral limiting groove 2613, it moves towards the second sleeve 262. When the first transmission tooth 2611 cooperates with the second transmission tooth 2621 and the inner cylinder 263 drives the first sleeve 261 to rotate synchronously, it drives the second sleeve 262 and the driven shaft 23 at the rear end to rotate synchronously, and the rotary propeller 24 on the driven shaft 23 rotates synchronously to do work.

[0057] Inner flat surfaces are provided in both the inner cylinder 263 and the second sleeve 262, and outer flat surfaces are provided on both the main drive shaft 22 and the driven shaft 23, so that the inner cylinder 263 rotates synchronously with the main drive shaft 22, and the second sleeve 262 rotates synchronously with the driven shaft 23.

[0058] The drive motor 21 is placed in the protection chamber 80, and a through hole 81 for the main drive shaft or the driven shaft to pass through is provided on the protection chamber 80. Figure 15As shown, the main drive shaft 22 extending from both ends of the drive motor 21 is located within the protection chamber 80. One end of the driven shaft 23 passes through the through-hole 81 and faces the end of the main drive shaft 22. The side wall of the protection chamber 80 supports the driven shaft 23. The clutch device 26 is arranged within the protection chamber 80, and the rotary thruster 24 is located outside the protection chamber 80. A sealing structure 28 is used to seal between the driven shaft 23 and the through-hole 81, specifically by means of a combination of a sealing ring and an oil seal. A sealing seat 281 is sleeved on the driven shaft 23. One end of the sealing seat is equipped with a sealing ring 282 that fits against the outer wall of the sealing chamber, and the other end of the sealing seat is installed with an oil seal 283. A bearing 284 sleeved on the driven shaft 23 is provided within the sealing seat to ensure that during the rotation of the driven shaft 23, liquid is prevented from entering the protection chamber 80 through the through-hole 81. The outer shape of the protection chamber 80 can be changed according to the requirements of the robot design. According to the layout within the robot, the protection chamber 80 and the sealing chamber 70 can be independent of each other or integrated as one.

[0059] As Figure 1 , Figure 2 and Figure 15 shown, an outlet chamber 17 is provided within both the front water outlet 131 and the rear water outlet 132. An outlet channel 171 corresponding to the rotary thruster 24 is formed within the outlet chamber 17. The outlet channel surrounds the outer edge of the rotary thruster. The main drive shaft 22 or the driven shaft 23 in the power device 20 passes through the outlet chamber 17. The inlet end of the outlet channel 171 is connected to the inner cavity 11 through a communication port 172, and a grid is provided at the outlet end of the outlet channel 171. In this way, each rotary thruster 24 within the front water outlet 131 and the rear water outlet 132 is located within the corresponding outlet channel 171. When the drive motor 21 drives the rotary thruster 24 at one end to rotate, the rotary thruster 24 at one end does work, and the drainage pressure will push open the corresponding one-way valve. The rotary thruster 24 at the other end does not do work, and the water in the inner cavity 11 passes through the corresponding communication port 172 and is discharged from the outlet channel 171 at the corresponding end. A one-way valve 173 is also provided within the outlet chamber. When the rotary thruster 24 at one end rotates and does work for drainage, the water pressure within the inner cavity 11 of the housing will be lower than the water pressure outside the housing, and the rotary thruster 24 at the other end does not do work. The water outside the housing will flow into the inner cavity 11 from the water outlet at the other end. While the water flows into the inner cavity 11 of the robot, it will push the one-way valve at the other end to close. The counterweight installed on the one-way valve will accelerate the closing speed of the one-way valve at the other end. By providing two one-way valves, it is achieved that when the power unit drains water from the front water outlet 131, the one-way valve at the rear end closes, and when draining water from the rear water outlet 132, the one-way valve at the front end closes.

[0060] Two power devices 20 can be installed within the inner cavity 11. Each power device 20 is arranged side by side to obtain greater power. Each power device 20 corresponds to a set of front water outlets 131 and rear water outlets 132; As Figure 1and Figure 2 As shown in Figure 2 , there are two groups of front water outlets 131 and rear water outlets 132 provided on the housing 10. The drive motors 211 of the two power units 10 are both placed in the corresponding protection bins 80, and the drive motors 211 are both connected to the main control module 40; when the front rotary thrusters 24 of the two power units 20 simultaneously spray water forward, a reaction force is generated, thereby obtaining the power to move backward; when the rear rotary thrusters 24 of the two power units 20 simultaneously spray water backward, a reaction force is generated, thereby obtaining the power to move forward; and when the rear rotary thruster 24 in the right power unit 20 sprays water backward, the right side obtains the power to move forward, but due to the water resistance in the front, the entire robot will deflect and move to the left. If at this time the front rotary thruster 24 in the left power mechanism sprays water forward, the robot can obtain the maneuverability close to turning in place; similarly, vice versa. Therefore, through the power combination of the two power units 20, the maneuver operations such as the machine moving forward, backward, and turning can be realized.

[0061] As Figure 1 and Figure 2As shown in the figure, taking the example that there are two power devices 20 inside the robot and the water inlet and outlet power device 32 is a peristaltic pump, the whole process of the robot cleaning the water surface is as follows: (1) After the robot is turned on and put into the water, the main control module defaults to enter the bottom working mode. The main control module controls the water inlet and outlet power device to work, and the peristaltic pump rotates counterclockwise. The water in the swimming pool flows in from the water inlet end of the water passing pipe, and finally the water pressure is pumped into the floating bin 31 through the work of the peristaltic pump. The air in the floating bin 31 is discharged from the air vent 312 along the air pipe to the water surface due to the filling of water; when the floating bin 31 is filled with water, the robot will sink to the bottom due to the change in specific gravity; at this time, the maneuvering actions such as the forward, backward, and turning of the robot are realized by the combination of the two power devices 20. The driving motor 21 is started, and the driving motor 21 drives the rotary propeller 24 at one end to rotate. This rotary propeller 24 does work, and the water flows into the inner cavity 11 of the housing 10 from the lower water inlet 122 at the bottom of the housing, and after being filtered by the filtering unit 14, it is discharged from the water outlet channel 171 corresponding to the rotary propeller 24 at the working end, realizing the cleaning of the pool bottom surface and underwater; (2) When the robot reaches the preset working duration in the bottom working mode, it indicates that the underwater work is completed. The main control module controls the robot to return to the water surface working mode. The peristaltic pump rotates clockwise to discharge the water in the floating bin 31, and the air is replenished into the floating bin 31 along the air pipe again. Since the water in the floating bin is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water lifts the robot to the water surface and keeps it at the preset draft position. At this time, the maneuvering actions such as the forward, backward, and turning of the robot are realized by the combination of the two power devices 20; the driver 142 drives the rolling brush 141 to rotate, and the rolling brush 141 sweeps the water surface garbage into the inner cavity 11. After being filtered by the filtering unit 14, the impurities remain in the filtering unit 14, and the filtered liquid is discharged from the water outlet 13, realizing the purpose of cleaning the water surface.

[0062] It should be noted that when the robot is in the bottom working mode, a preset working duration will be set, generally 90 minutes or 120 minutes. When the robot works at the bottom for the time reaching the preset working duration, the main control module will control the machine to return to the water surface working mode; at this time, if the battery power in the robot is sufficient, the robot can immediately enter the water surface working mode when it returns to the water surface; if the power is insufficient, the robot will use the photovoltaic panel 18 on the top of the housing 10 on the water surface. The photovoltaic panel 18 charges the battery 71, and after the charging reaches the preset level, the robot will be put into the water surface working mode again.

[0063] When the robot moves in the pool, the main control module 40 will set the output powers of the two driving motors 21 to be slightly different, so that the movement trajectory of the robot in the pool is arc-shaped. The process of realizing the forward and backward movement switching of the robot is as follows: There is a gyroscope sensor on the main control board in the main control module 40. The main control module 40 starts the driving motor 21 to rotate forward, and the rotary thruster 24 at the rear end does work to discharge water and generate a reaction force to push the robot forward. When the robot moves forward and encounters an obstacle, the gyroscope sensor senses the change in acceleration and determines that the robot has encountered an obstacle; at this time, the main control module 40 starts the driving motor 21 to rotate backward, and the rotary thruster 24 at the front end does work to discharge water and generate a reaction force to push the robot backward until the robot encounters an obstacle again and switches directions again. By repeatedly switching directions like this, the movement trajectory of the robot can cover the area of the pool as much as possible.

[0064] In summary, the technical solution of the present utility model can fully and effectively achieve the above-mentioned utility model purpose, and the structure and functional principle of the present utility model have been fully verified in the embodiments, and can achieve the expected efficacy and purpose. Without departing from the principle and essence of the present utility model, various changes or modifications can be made to the embodiments of the utility model. Therefore, the present utility model includes all replacement contents within the scope mentioned in the patent application scope. Any equivalent changes made within the scope of the patent application of the present utility model fall within the scope of the patent applied for in this case.

Claims

1. A swimming pool cleaning robot, comprising a housing with an inner cavity, the inner cavity being connected with a water inlet and a water outlet, characterized in that: A filtering unit is provided in the inner cavity; a power device for achieving surface or underwater movement and a snorkeling device for controlling snorkeling to achieve surface cleaning and underwater cleaning are also provided in the shell, the power device and the snorkeling device are both connected to the main control module, the snorkeling device includes at least one floating chamber for achieving floating or diving by adjusting the ratio of water and air in the inner cavity, the inner cavity of the floating chamber is connected with a water inlet for water inlet and outlet and an air vent for communicating with the air on the water surface, the opening of the ventilation pipe connected with the air vent is above the water surface, and the water inlet is below the water surface when the swimming pool robot floats or dives; the water inlet of each floating chamber is connected with an inlet and outlet water power device for controlling the on-off of the water path, and the inlet and outlet water power device is connected to the main control module.

2. The swimming pool cleaning robot according to claim 1, characterized in that: The vents of each floating bin are connected together through a ventilation pipe, the ventilation pipe is connected to a float floating on the water surface, the float is provided with an air hole connected to the ventilation pipe, a hollow connecting pipe is provided under the float, the hollow connecting pipe connects the air hole and the vent of the floating bin.

3. The swimming pool cleaning robot according to claim 2, characterized in that: The water inlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling the on-off of the water inlet waterway and a drainage power driver for controlling the on-off of the water outlet waterway, the water inlet pipeline in the water pipe is connected to the water inlet power driver, and the drainage pipeline in the water pipe is connected to the drainage power driver.

4. The swimming pool cleaning robot according to claim 2, characterized in that: The water inlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling water inlet and a drainage power driver for controlling water outlet, and the water pipe is connected in series with the water inlet power driver and the drainage power driver.

5. The swimming pool cleaning robot according to claim 1, characterized in that: The water inlet and outlet water power device is placed in a sealed chamber, and a battery is also provided in the sealed chamber; a photovoltaic panel connected to the main control module is provided on the top of the shell; the water inlet includes an upper water inlet and a lower water inlet connected to the inner cavity, the lower water inlet is arranged at the bottom of the shell, the lower water inlet is equipped with a non-return cover plate, the upper water inlet is arranged on one side of the shell, and the upper water inlet is equipped with a front door cover plate; the water outlet is below the upper water inlet, and the water outlet includes a front water outlet and a rear water outlet relatively arranged on both sides of the shell.

6. The swimming pool cleaning robot according to claim 5, characterized in that: The filter unit is a filter frame, and a non-return cover plate for covering the lower water inlet is installed at the bottom of the filter frame; the upper water inlet is connected to a water inlet channel, and a front door cover plate is installed at the channel opening of the water inlet channel, and the front door cover plate is connected to the float chamber through a connecting rod; a roller sweep corresponding to the water inlet channel of the upper water inlet is also installed in the filter frame, and the roller sweep is connected to a driver, and the driver is connected to the main control module.

7. The swimming pool cleaning robot according to claim 5, characterized in that: The inner cavity is provided with at least one power device for discharging the water flow entering the inner cavity from the lower water outlet to generate power, including a driving motor connected to the main control module, and the front and rear ends of the driving motor are extended with main driving shafts that rotate synchronously, each main driving shaft indirectly drives the driven shaft, and a clutch device is provided between the main driving shaft and the driven shaft for driving the driven shaft and the main driving shaft to rotate according to the rotation direction of the main driving shaft, and a rotating propeller for pushing water is installed on the driven shaft; the rotating propeller at the front end is located in the corresponding front water outlet, and the rotating propeller at the rear end is located in the corresponding rear water outlet.

8. The swimming pool cleaning robot according to claim 7, characterized in that: The clutch device comprises a first sleeve and a second sleeve which cooperate with each other, the first sleeve being provided with a first transmission tooth, the second sleeve being provided with a second transmission tooth which cooperates with the first transmission tooth, the first sleeve being rotated synchronously with the main drive shaft through the inner cylinder, and the second sleeve being rotated synchronously with the driven shaft; the direction of the second transmission tooth in the second sleeve on the front driven shaft is opposite to the direction of the second transmission tooth in the second sleeve on the rear driven shaft; the end of the main drive shaft is arranged opposite to the end of the driven shaft; the inner cylinder rotates synchronously with the main drive shaft, the first sleeve is sleeved on the inner cylinder, the inner cylinder is provided with at least one outer protrusion for driving the first sleeve to rotate, the outer protrusion is provided with a push block for driving the outer cylinder to move linearly, the inner wall of the first sleeve is provided with an inner protrusion which cooperates with the outer protrusion and a placement groove for inserting the push block, the placement groove is matched with an insert, and the bottom protrusion of the insert and the bottom of the placement groove form a spiral limiting groove which cooperates with the push block.

9. The swimming pool cleaning robot according to claim 7, characterized in that: A water outlet bin is provided in the front water outlet and the rear water outlet, and a water outlet channel corresponding to the rotating propeller is formed in the water outlet bin. The water outlet channel surrounds the outer edge of the rotating propeller, and the driving shaft or the driven shaft in the power device passes through the water outlet bin. The water inlet end of the water outlet channel is connected with the inner cavity through a connecting port, and a one-way valve is also provided in the water outlet bin.

10. The swimming pool cleaning robot according to claim 7, characterized in that: The driving motor is placed in a protection compartment, and a through hole is provided on the protection compartment for the main driving shaft or the driven shaft to pass through.

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